state_machine_helper.h File Reference

State machine helper functions definitions. More...

#include <drivers/drv_hrt.h>
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/safety.h>
#include <uORB/topics/commander_state.h>
#include <uORB/topics/vehicle_status_flags.h>

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Typedefs
typedef enum LOW_BAT_ACTION	low_battery_action_t

Enumerations
enum	transition_result_t { TRANSITION_DENIED = -1, TRANSITION_NOT_CHANGED = 0, TRANSITION_CHANGED }
enum	link_loss_actions_t {   link_loss_actions_t::DISABLED = 0, link_loss_actions_t::AUTO_LOITER = 1, link_loss_actions_t::AUTO_RTL = 2, link_loss_actions_t::AUTO_LAND = 3,   link_loss_actions_t::AUTO_RECOVER = 4, link_loss_actions_t::TERMINATE = 5, link_loss_actions_t::LOCKDOWN = 6 }
enum	offboard_loss_actions_t {   offboard_loss_actions_t::DISABLED = -1, offboard_loss_actions_t::AUTO_LAND = 0, offboard_loss_actions_t::AUTO_LOITER = 1, offboard_loss_actions_t::AUTO_RTL = 2,   offboard_loss_actions_t::TERMINATE = 3, offboard_loss_actions_t::LOCKDOWN = 4 }
enum	offboard_loss_rc_actions_t {   offboard_loss_rc_actions_t::DISABLED = -1, offboard_loss_rc_actions_t::MANUAL_POSITION = 0, offboard_loss_rc_actions_t::MANUAL_ALTITUDE = 1, offboard_loss_rc_actions_t::MANUAL_ATTITUDE = 2,   offboard_loss_rc_actions_t::AUTO_RTL = 3, offboard_loss_rc_actions_t::AUTO_LAND = 4, offboard_loss_rc_actions_t::AUTO_LOITER = 5, offboard_loss_rc_actions_t::TERMINATE = 6,   offboard_loss_rc_actions_t::LOCKDOWN = 7 }
enum	position_nav_loss_actions_t { position_nav_loss_actions_t::ALTITUDE_MANUAL = 0, position_nav_loss_actions_t::LAND_TERMINATE = 1 }
enum	LOW_BAT_ACTION { WARNING = 0, RETURN = 1, LAND = 2, RETURN_OR_LAND = 3 }

Functions
bool	is_safe (const safety_s &safety, const actuator_armed_s &armed)
transition_result_t	arming_state_transition (vehicle_status_s *status, const safety_s &safety, const arming_state_t new_arming_state, actuator_armed_s *armed, const bool fRunPreArmChecks, orb_advert_t *mavlink_log_pub, vehicle_status_flags_s *status_flags, const uint8_t arm_requirements, const hrt_abstime &time_since_boot)
transition_result_t	main_state_transition (const vehicle_status_s &status, const main_state_t new_main_state, const vehicle_status_flags_s &status_flags, commander_state_s *internal_state)
void	enable_failsafe (vehicle_status_s *status, bool old_failsafe, orb_advert_t *mavlink_log_pub, const char *reason)
	Enable failsafe and report to user. More...
bool	set_nav_state (vehicle_status_s *status, actuator_armed_s *armed, commander_state_s *internal_state, orb_advert_t *mavlink_log_pub, const link_loss_actions_t data_link_loss_act, const bool mission_finished, const bool stay_in_failsafe, const vehicle_status_flags_s &status_flags, bool landed, const link_loss_actions_t rc_loss_act, const offboard_loss_actions_t offb_loss_act, const offboard_loss_rc_actions_t offb_loss_rc_act, const position_nav_loss_actions_t posctl_nav_loss_act)
	Check failsafe and main status and set navigation status for navigator accordingly. More...
bool	check_invalid_pos_nav_state (vehicle_status_s *status, bool old_failsafe, orb_advert_t *mavlink_log_pub, const vehicle_status_flags_s &status_flags, const bool use_rc, const bool using_global_pos)
void	battery_failsafe (orb_advert_t *mavlink_log_pub, const vehicle_status_s &status, const vehicle_status_flags_s &status_flags, commander_state_s *internal_state, const uint8_t battery_warning, const low_battery_action_t low_bat_action)

Variables
const char *const	arming_state_names []

Detailed Description

State machine helper functions definitions.

Author

Thomas Gubler thoma.nosp@m.sgub.nosp@m.ler@s.nosp@m.tude.nosp@m.nt.et.nosp@m.hz.c.nosp@m.h

Julian Oes julia.nosp@m.n@oe.nosp@m.s.ch

Definition in file state_machine_helper.h.

Typedef Documentation

low_battery_action_t

typedef enum LOW_BAT_ACTION low_battery_action_t

Enumeration Type Documentation

link_loss_actions_t

enum link_loss_actions_t

strong

Enumerator
DISABLED
AUTO_LOITER
AUTO_RTL
AUTO_LAND
AUTO_RECOVER
TERMINATE
LOCKDOWN

Definition at line 61 of file state_machine_helper.h.

LOW_BAT_ACTION

enum LOW_BAT_ACTION

Enumerator
WARNING
RETURN
LAND
RETURN_OR_LAND

Definition at line 128 of file state_machine_helper.h.

offboard_loss_actions_t

enum offboard_loss_actions_t

strong

Enumerator
DISABLED
AUTO_LAND
AUTO_LOITER
AUTO_RTL
TERMINATE
LOCKDOWN

Definition at line 71 of file state_machine_helper.h.

offboard_loss_rc_actions_t

enum offboard_loss_rc_actions_t

strong

Enumerator
DISABLED
MANUAL_POSITION
MANUAL_ALTITUDE
MANUAL_ATTITUDE
AUTO_RTL
AUTO_LAND
AUTO_LOITER
TERMINATE
LOCKDOWN

Definition at line 80 of file state_machine_helper.h.

position_nav_loss_actions_t

enum position_nav_loss_actions_t

strong

Enumerator
ALTITUDE_MANUAL
LAND_TERMINATE

Definition at line 92 of file state_machine_helper.h.

transition_result_t

enum transition_result_t

Enumerator
TRANSITION_DENIED
TRANSITION_NOT_CHANGED
TRANSITION_CHANGED

Definition at line 55 of file state_machine_helper.h.

Function Documentation

arming_state_transition()

transition_result_t arming_state_transition	(	vehicle_status_s *	status,
		const safety_s &	safety,
		const arming_state_t	new_arming_state,
		actuator_armed_s *	armed,
		const bool	fRunPreArmChecks,
		orb_advert_t *	mavlink_log_pub,
		vehicle_status_flags_s *	status_flags,
		const uint8_t	arm_requirements,
		const hrt_abstime &	time_since_boot
	)

Definition at line 106 of file state_machine_helper.cpp.

References PreFlightCheck::ARM_REQ_GPS_BIT, actuator_armed_s::armed, actuator_armed_s::armed_time_ms, vehicle_status_s::arming_state, arming_state_names, arming_transitions, vehicle_status_flags_s::condition_system_sensors_initialized, vehicle_status_s::hil_state, hrt_absolute_time(), hrt_elapsed_time(), last_preflight_check, actuator_armed_s::lockdown, mavlink_log_critical, PreFlightCheck::preArmCheck(), PreFlightCheck::preflightCheck(), actuator_armed_s::ready_to_arm, TRANSITION_CHANGED, TRANSITION_DENIED, and TRANSITION_NOT_CHANGED.

Referenced by arm_disarm(), StateMachineHelperTest::armingStateTransitionTest(), commander_low_prio_loop(), Commander::run(), and shutdown_if_allowed().

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battery_failsafe()

void battery_failsafe	(	orb_advert_t *	mavlink_log_pub,
		const vehicle_status_s &	status,
		const vehicle_status_flags_s &	status_flags,
		commander_state_s *	internal_state,
		const uint8_t	battery_warning,
		const low_battery_action_t	low_bat_action
	)

Definition at line 1014 of file state_machine_helper.cpp.

References vehicle_status_flags_s::condition_global_position_valid, vehicle_status_flags_s::condition_home_position_valid, hrt_absolute_time(), LAND, commander_state_s::main_state, mavlink_log_critical, mavlink_log_emergency, RETURN, RETURN_OR_LAND, commander_state_s::timestamp, and WARNING.

Referenced by Commander::battery_status_check().

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check_invalid_pos_nav_state()

bool check_invalid_pos_nav_state	(	vehicle_status_s *	status,
		bool	old_failsafe,
		orb_advert_t *	mavlink_log_pub,
		const vehicle_status_flags_s &	status_flags,
		const bool	use_rc,
		const bool	using_global_pos
	)

Definition at line 724 of file state_machine_helper.cpp.

References vehicle_status_flags_s::condition_global_position_valid, vehicle_status_flags_s::condition_local_altitude_valid, vehicle_status_flags_s::condition_local_position_valid, vehicle_status_flags_s::condition_local_velocity_valid, enable_failsafe(), vehicle_status_s::nav_state, reason_no_global_position, reason_no_local_position, and vehicle_status_s::vehicle_type.

Referenced by set_nav_state().

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enable_failsafe()

void enable_failsafe	(	vehicle_status_s *	status,
		bool	old_failsafe,
		orb_advert_t *	mavlink_log_pub,
		const char *	reason
	)

Enable failsafe and report to user.

Definition at line 391 of file state_machine_helper.cpp.

References vehicle_status_s::arming_state, vehicle_status_s::failsafe, and mavlink_log_critical.

Referenced by check_invalid_pos_nav_state(), and set_nav_state().

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is_safe()

bool is_safe	(	const safety_s &	safety,
		const actuator_armed_s &	armed
	)

Definition at line 248 of file state_machine_helper.cpp.

References actuator_armed_s::armed, actuator_armed_s::lockdown, actuator_armed_s::manual_lockdown, safety_s::safety_off, and safety_s::safety_switch_available.

Referenced by commander_low_prio_loop(), and StateMachineHelperTest::isSafeTest().

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main_state_transition()

transition_result_t main_state_transition	(	const vehicle_status_s &	status,
		const main_state_t	new_main_state,
		const vehicle_status_flags_s &	status_flags,
		commander_state_s *	internal_state
	)

Definition at line 260 of file state_machine_helper.cpp.

References vehicle_status_flags_s::condition_auto_mission_available, vehicle_status_flags_s::condition_global_position_valid, vehicle_status_flags_s::condition_home_position_valid, vehicle_status_flags_s::condition_local_altitude_valid, vehicle_status_flags_s::condition_local_position_valid, hrt_absolute_time(), commander_state_s::main_state, vehicle_status_flags_s::offboard_control_signal_lost, commander_state_s::timestamp, TRANSITION_CHANGED, TRANSITION_DENIED, TRANSITION_NOT_CHANGED, and vehicle_status_s::vehicle_type.

Referenced by commander_main(), Commander::handle_command(), StateMachineHelperTest::mainStateTransitionTest(), Commander::run(), set_link_loss_nav_state(), Commander::set_main_state_override_on(), and Commander::set_main_state_rc().

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set_nav_state()

bool set_nav_state	(	vehicle_status_s *	status,
		actuator_armed_s *	armed,
		commander_state_s *	internal_state,
		orb_advert_t *	mavlink_log_pub,
		const link_loss_actions_t	data_link_loss_act,
		const bool	mission_finished,
		const bool	stay_in_failsafe,
		const vehicle_status_flags_s &	status_flags,
		bool	landed,
		const link_loss_actions_t	rc_loss_act,
		const offboard_loss_actions_t	offb_loss_act,
		const offboard_loss_rc_actions_t	offb_loss_rc_act,
		const position_nav_loss_actions_t	posctl_nav_loss_act
	)

Check failsafe and main status and set navigation status for navigator accordingly.

Definition at line 403 of file state_machine_helper.cpp.

References vehicle_status_s::arming_state, check_invalid_pos_nav_state(), vehicle_status_s::data_link_lost, DISABLED, enable_failsafe(), vehicle_status_s::engine_failure, vehicle_status_s::failsafe, LAND_TERMINATE, commander_state_s::main_state, vehicle_status_s::mission_failure, vehicle_status_s::nav_state, vehicle_status_flags_s::offboard_control_loss_timeout, vehicle_status_flags_s::offboard_control_signal_lost, vehicle_status_s::rc_signal_lost, reason_no_datalink, reason_no_offboard, reason_no_rc, reason_no_rc_and_no_offboard, reset_link_loss_globals(), reset_offboard_loss_globals(), set_link_loss_nav_state(), set_offboard_loss_nav_state(), set_offboard_loss_rc_nav_state(), vehicle_status_s::vehicle_type, VEHICLE_TYPE_FIXED_WING, and vehicle_status_flags_s::vtol_transition_failure.

Referenced by Commander::run().

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Variable Documentation

arming_state_names

const char* const arming_state_names[]

Definition at line 77 of file state_machine_helper.cpp.

Referenced by arming_state_transition(), and print_status().